SPEED+DatasetLoaded
import kagglehub
# Download latest version
path = kagglehub.dataset_download("wolgwang/speed")
print("Path to dataset files:", path)
Path to dataset files: /kaggle/input/speed
dataset_path = "/kaggle/input/speed/speedplusv2/synthetic/"
# Dataset Abstraction|
import json
with open(dataset_path + 'train.json') as f:
train_metadata = json.load(f)
print(train_metadata)
[{'filename': 'img000001.jpg', 'r_Vo2To_vbs_true': [-0.129896, 0.069519, 6.457073], 'q_vbs2tango_true': [-0.336458, -0.093409, -0.8286, 0.437599]}, {'filename': 'img000002.jpg', 'r_Vo2To_vbs_true': [-0.045457, 0.09124, 4.236195], 'q_vbs2tango_true': [-0.066677, 0.512545, 0.742901, 0.425382]}, {'filename': 'img000003.jpg', 'r_Vo2To_vbs_true': [0.062054, 0.077027, 2.860328], 'q_vbs2tango_true': [0.885895, 0.421982, -0.132624, 0.139758]}, {'filename': 'img000004.jpg', 'r_Vo2To_vbs_true': [-0.138635, 0.066346, 4.57807], 'q_vbs2tango_true': [-0.358977, -0.163489, -0.01317, -0.918822]}, {'filename': 'img000005.jpg', 'r_Vo2To_vbs_true': [-0.010698, -0.143755, 3.822349], 'q_vbs2tango_true': [0.27991, -0.907148, -0.0787, -0.304202]}, {'filename': 'img000006.jpg', 'r_Vo2To_vbs_true': [0.045823, 0.357686, 7.504268], 'q_vbs2tango_true': [-0.642417, -0.0213, 0.756631, 0.119817]}, {'filename': 'img000007.jpg', 'r_Vo2To_vbs_true': [0.379978, 0.124926, 9.966948], 'q_vbs2tango_true': [0.273176, -0.922084, -0.075449, 0.263522]}, {'filename': 'img000008.jpg', 'r_Vo2To_vbs_true': [-0.038469, 0.151381, 2.961553], 'q_vbs2tango_true': [-0.217857, -0.184059, 0.537455, 0.793601]}, {'filename': 'img000009.jpg', 'r_Vo2To_vbs_true': [0.383848, 0.047881, 9.883952], 'q_vbs2tango_true': [0.587409, -0.023264, -0.790994, -0.169523]}, {'filename': 'img000010.jpg', 'r_Vo2To_vbs_true': [-0.206774, -0.047878, 4.985503], 'q_vbs2tango_true': [-0.444023, -0.101919, -0.819316, 0.348107]}, {'filename': 'img000011.jpg', 'r_Vo2To_vbs_true': [-0.376477, -0.556531, 7.571172], 'q_vbs2tango_true': [-0.571915, 0.432662, -0.104105, 0.689115]}, {'filename': 'img000012.jpg', 'r_Vo2To_vbs_true': [0.00082, -0.04262, 2.873999], 'q_vbs2tango_true': [-0.370687, 0.92864, 0.010494, -0.01041]}, {'filename': 'img000013.jpg', 'r_Vo2To_vbs_true': [-0.024739, -0.233126, 4.089619], 'q_vbs2tango_true': [-0.592781, -0.454007, -0.63621, 0.194228]}, {'filename': 'img000015.jpg', 'r_Vo2To_vbs_true': [-0.027916, 0.128131, 2.842578], 'q_vbs2tango_true': [0.567995, 0.453726, -0.140803, 0.672079]}, {'filename': 'img000016.jpg', 'r_Vo2To_vbs_true': [0.026315, 0.499041, 7.490676], 'q_vbs2tango_true': [-0.262146, -0.020107, 0.91703, 0.299885]}, {'filename': 'img000017.jpg', 'r_Vo2To_vbs_true': [-0.153817, 0.056911, 6.687697], 'q_vbs2tango_true': [-0.230492, -0.464536, 0.257945, 0.815196]}, {'filename': 'img000018.jpg', 'r_Vo2To_vbs_true': [0.238491, -0.245221, 9.934951], 'q_vbs2tango_true': [0.347436, -0.683656, -0.396677, 0.50453]}, {'filename': 'img000019.jpg', 'r_Vo2To_vbs_true': [-0.059765, 0.354944, 5.524356], 'q_vbs2tango_true': [-0.946722, 0.081333, 0.309103, 0.039464]}, {'filename': 'img000020.jpg', 'r_Vo2To_vbs_true': [-0.219515, -0.214847, 9.992192], 'q_vbs2tango_true': [-0.493749, 0.234204, 0.830232, 0.109888]}, {'filename': 'img000023.jpg', 'r_Vo2To_vbs_true': [0.056507, -0.336983, 5.705491], 'q_vbs2tango_true': [-0.167977, -0.081905, -0.172223, 0.967168]}, {'filename': 'img000024.jpg', 'r_Vo2To_vbs_true': [0.044306, 0.661983, 8.639993], 'q_vbs2tango_true': [-0.40603, 0.494882, -0.726266, -0.250537]}, {'filename': 'img000027.jpg', 'r_Vo2To_vbs_true': [-0.052542, -0.094459, 5.065166], 'q_vbs2tango_true': [0.898617, 0.318797, -0.155677, -0.25811]}, {'filename': 'img000028.jpg', 'r_Vo2To_vbs_true': [0.178521, 0.410602, 4.211326], 'q_vbs2tango_true': [-0.221807, 0.586242, -0.149989, -0.764608]}, {'filename': 'img000029.jpg', 'r_Vo2To_vbs_true': [0.028559, 0.454353, 5.339821], 'q_vbs2tango_true': [-0.295194, 0.13993, -0.713537, 0.619794]}, {'filename': 'img000031.jpg', 'r_Vo2To_vbs_true': [0.011221, 0.446309, 5.460424], 'q_vbs2tango_true': [0.513271, 0.659056, 0.447256, -0.319624]}, {'filename': 'img000032.jpg', 'r_Vo2To_vbs_true': [0.021151, -0.085289, 3.49627], 'q_vbs2tango_true': [0.198711, -0.241348, 0.457308, -0.832547]}, {'filename': 'img000034.jpg', 'r_Vo2To_vbs_true': [0.395627, 0.359332, 5.990549], 'q_vbs2tango_true': [0.137173, 0.031819, 0.625601, 0.76733]}, {'filename': 'img000035.jpg', 'r_Vo2To_vbs_true': [-0.099647, -0.196877, 5.770439], 'q_vbs2tango_true': [-0.052624, 0.767139, 0.108759, -0.63]}, {'filename': 'img000036.jpg', 'r_Vo2To_vbs_true': [0.280749, 0.218569, 7.377274], 'q_vbs2tango_true': [-0.663318, 0.345193, 0.314251, 0.584891]}, {'filename': 'img000037.jpg', 'r_Vo2To_vbs_true': [-0.006081, -0.002992, 4.294703], 'q_vbs2tango_true': [-0.099043, 0.841783, -0.385248, 0.364933]}, {'filename': 'img000039.jpg', 'r_Vo2To_vbs_true': [-0.138792, -0.028489, 4.660232], 'q_vbs2tango_true': [-0.07324, -0.437183, 0.64712, -0.620277]}, {'filename': 'img000040.jpg', 'r_Vo2To_vbs_true': [-0.167793, 0.061814, 6.859299], 'q_vbs2tango_true': [0.562233, 0.539199, -0.598973, 0.185446]}, {'filename': 'img000042.jpg', 'r_Vo2To_vbs_true': [0.422625, 0.104082, 8.134981], 'q_vbs2tango_true': [0.378487, -0.597324, 0.699903, -0.100436]}, {'filename': 'img000043.jpg', 'r_Vo2To_vbs_true': [0.039871, -0.071963, 3.759026], 'q_vbs2tango_true': [0.572915, 0.325266, 0.72537, -0.199522]}, {'filename': 'img000044.jpg', 'r_Vo2To_vbs_true': [0.066056, 0.034438, 4.883233], 'q_vbs2tango_true': [0.387538, 0.090777, 0.84364, -0.36034]}, {'filename': 'img000045.jpg', 'r_Vo2To_vbs_true': [0.212977, 0.130207, 9.824834], 'q_vbs2tango_true': [0.482827, 0.599151, -0.637544, 0.037867]}, {'filename': 'img000046.jpg', 'r_Vo2To_vbs_true': [-0.059814, -0.157111, 3.973908], 'q_vbs2tango_true': [0.358669, 0.074841, -0.767647, 0.525808]}, {'filename': 'img000048.jpg', 'r_Vo2To_vbs_true': [0.066606, 0.149648, 6.644082], 'q_vbs2tango_true': [-0.73549, -0.568263, 0.063559, 0.363445]}, {'filename': 'img000049.jpg', 'r_Vo2To_vbs_true': [0.014365, -0.391928, 5.715138], 'q_vbs2tango_true': [-0.134478, -0.192106, -0.787812, 0.569529]}, {'filename': 'img000050.jpg', 'r_Vo2To_vbs_true': [-0.365046, 0.535943, 9.479587], 'q_vbs2tango_true': [-0.650465, -0.600068, -0.361075, -0.294003]}, {'filename': 'img000051.jpg', 'r_Vo2To_vbs_true': [0.135964, -0.161761, 7.025865], 'q_vbs2tango_true': [0.229954, -0.653277, 0.20277, -0.692268]}, {'filename': 'img000052.jpg', 'r_Vo2To_vbs_true': [-0.03992, -0.214374, 5.199711], 'q_vbs2tango_true': [-0.540243, -0.337525, -0.315144, -0.703491]}, {'filename': 'img000053.jpg', 'r_Vo2To_vbs_true': [0.222091, 0.175109, 9.100693], 'q_vbs2tango_true': [-0.352192, -0.20329, 0.300948, -0.862592]}, {'filename': 'img000054.jpg', 'r_Vo2To_vbs_true': [0.139478, -0.602114, 8.965973], 'q_vbs2tango_true': [-0.588731, -0.337838, -0.580179, -0.450169]}, {'filename': 'img000055.jpg', 'r_Vo2To_vbs_true': [0.080176, 0.514914, 4.749953], 'q_vbs2tango_true': [-0.075886, 0.027464, 0.72454, 0.684492]}, {'filename': 'img000056.jpg', 'r_Vo2To_vbs_true': [-0.152301, -0.398171, 7.063884], 'q_vbs2tango_true': [0.525002, -0.54739, 0.621147, -0.197266]}, {'filename': 'img000057.jpg', 'r_Vo2To_vbs_true': [-0.137192, 0.010684, 4.186112], 'q_vbs2tango_true': [0.222911, -0.385951, 0.808871, 0.383511]}, {'filename': 'img000058.jpg', 'r_Vo2To_vbs_true': [0.083972, 0.053482, 6.249826], 'q_vbs2tango_true': [-0.111712, 0.649884, -0.747871, -0.076545]}, {'filename': 'img000059.jpg', 'r_Vo2To_vbs_true': [0.192775, 0.191817, 6.743674], 'q_vbs2tango_true': [-0.343605, 0.140475, -0.918554, -0.13587]}, {'filename': 'img000060.jpg', 'r_Vo2To_vbs_true': [-0.040046, 0.230098, 7.432188], 'q_vbs2tango_true': [0.267343, -0.143938, -0.425444, 0.85253]}, {'filename': 'img000061.jpg', 'r_Vo2To_vbs_true': [0.064869, -0.076868, 8.269808], 'q_vbs2tango_true': [-0.201725, 0.332313, -0.269955, 0.880908]}, {'filename': 'img000062.jpg', 'r_Vo2To_vbs_true': [-0.155491, -0.339869, 5.532514], 'q_vbs2tango_true': [0.233583, 0.306592, 0.313323, 0.867911]}, {'filename': 'img000063.jpg', 'r_Vo2To_vbs_true': [-0.067904, -0.086303, 3.707711], 'q_vbs2tango_true': [-0.750807, 0.087768, -0.261816, 0.600032]}, {'filename': 'img000064.jpg', 'r_Vo2To_vbs_true': [0.033765, 0.124175, 6.636978], 'q_vbs2tango_true': [-0.29718, 0.538458, 0.673421, -0.410184]}, {'filename': 'img000065.jpg', 'r_Vo2To_vbs_true': [-0.164478, -0.060297, 4.159364], 'q_vbs2tango_true': [0.681411, 0.27251, -0.539508, -0.412733]}, {'filename': 'img000066.jpg', 'r_Vo2To_vbs_true': [-0.569573, -0.121195, 9.976057], 'q_vbs2tango_true': [0.738825, -0.616868, 0.156871, -0.221368]}, {'filename': 'img000067.jpg', 'r_Vo2To_vbs_true': [-0.517537, -0.384894, 9.03544], 'q_vbs2tango_true': [-0.484316, -0.452218, 0.280617, 0.6944]}, {'filename': 'img000068.jpg', 'r_Vo2To_vbs_true': [0.194416, 0.339832, 5.668164], 'q_vbs2tango_true': [-0.853114, -0.030204, 0.024888, 0.520255]}, {'filename': 'img000070.jpg', 'r_Vo2To_vbs_true': [-0.361493, -0.186113, 8.61873], 'q_vbs2tango_true': [-0.567911, 0.065334, 0.309324, -0.759952]}, {'filename': 'img000072.jpg', 'r_Vo2To_vbs_true': [-0.040459, 0.297067, 3.491459], 'q_vbs2tango_true': [-0.841468, 0.088131, -0.391012, 0.362317]}, {'filename': 'img000073.jpg', 'r_Vo2To_vbs_true': [-0.148721, -0.151992, 7.157664], 'q_vbs2tango_true': [0.295535, -0.374608, 0.863833, -0.16162]}, {'filename': 'img000075.jpg', 'r_Vo2To_vbs_true': [0.051042, -0.077972, 2.635835], 'q_vbs2tango_true': [-0.654148, -0.181732, 0.338165, -0.651697]}, {'filename': 'img000076.jpg', 'r_Vo2To_vbs_true': [0.256143, 0.185151, 5.089128], 'q_vbs2tango_true': [-0.2672, -0.169229, 0.593139, -0.740373]}, {'filename': 'img000078.jpg', 'r_Vo2To_vbs_true': [0.066905, 0.059822, 2.443519], 'q_vbs2tango_true': [-0.110578, 0.154654, 0.615691, -0.764709]}, {'filename': 'img000079.jpg', 'r_Vo2To_vbs_true': [-0.063498, -0.215611, 6.484732], 'q_vbs2tango_true': [0.573996, 0.630797, -0.055426, -0.519183]}, {'filename': 'img000080.jpg', 'r_Vo2To_vbs_true': [-0.124789, 0.527084, 6.31857], 'q_vbs2tango_true': [0.769631, -0.242864, -0.058093, 0.587631]}, {'filename': 'img000082.jpg', 'r_Vo2To_vbs_true': [0.009083, 0.208705, 5.155169], 'q_vbs2tango_true': [-0.175126, -0.415099, -0.56975, 0.687319]}, {'filename': 'img000083.jpg', 'r_Vo2To_vbs_true': [-0.052577, -0.013729, 2.647023], 'q_vbs2tango_true': [0.584624, 0.627203, -0.367325, -0.360422]}, {'filename': 'img000084.jpg', 'r_Vo2To_vbs_true': [0.003832, -0.512672, 6.720151], 'q_vbs2tango_true': [-0.285525, -0.845012, -0.199936, -0.405532]}, {'filename': 'img000085.jpg', 'r_Vo2To_vbs_true': [0.104669, -0.0341, 7.738092], 'q_vbs2tango_true': [0.400052, 0.52496, -0.748239, 0.067183]}, {'filename': 'img000087.jpg', 'r_Vo2To_vbs_true': [-0.042265, 0.154625, 4.114606], 'q_vbs2tango_true': [-0.018314, -0.403286, -0.711199, 0.575518]}, {'filename': 'img000089.jpg', 'r_Vo2To_vbs_true': [-0.095571, 0.117834, 3.625047], 'q_vbs2tango_true': [-0.405531, 0.50223, -0.175714, 0.743259]}, {'filename': 'img000090.jpg', 'r_Vo2To_vbs_true': [0.077192, -0.088195, 7.569747], 'q_vbs2tango_true': [-0.062121, -0.390526, 0.623132, 0.674787]}, {'filename': 'img000091.jpg', 'r_Vo2To_vbs_true': [-0.018938, -0.073591, 3.0508], 'q_vbs2tango_true': [-0.13999, 0.066701, -0.710742, 0.686149]}, {'filename': 'img000093.jpg', 'r_Vo2To_vbs_true': [-0.049086, 0.154137, 2.812837], 'q_vbs2tango_true': [0.829045, 0.313762, -0.221914, -0.406192]}, {'filename': 'img000094.jpg', 'r_Vo2To_vbs_true': [0.090834, 0.371959, 5.779886], 'q_vbs2tango_true': [-0.194941, 0.572221, 0.331958, -0.72413]}, {'filename': 'img000095.jpg', 'r_Vo2To_vbs_true': [-0.130352, -0.077116, 3.913432], 'q_vbs2tango_true': [0.0925, 0.261002, 0.951029, -0.13735]}, {'filename': 'img000096.jpg', 'r_Vo2To_vbs_true': [-0.199299, -0.359425, 6.243782], 'q_vbs2tango_true': [-0.295931, -0.307245, 0.412296, 0.805008]}, {'filename': 'img000098.jpg', 'r_Vo2To_vbs_true': [-0.174813, 0.210873, 8.755106], 'q_vbs2tango_true': [-0.196721, -0.701734, -0.679605, -0.083708]}, {'filename': 'img000099.jpg', 'r_Vo2To_vbs_true': [-0.019839, -0.060103, 8.161398], 'q_vbs2tango_true': [-0.438154, 0.81218, -0.146053, 0.356445]}, {'filename': 'img000100.jpg', 'r_Vo2To_vbs_true': [0.036185, -0.001403, 2.959311], 'q_vbs2tango_true': [0.630263, -0.338543, -0.496483, 0.49159]}, {'filename': 'img000101.jpg', 'r_Vo2To_vbs_true': [-0.440654, -0.11894, 9.872779], 'q_vbs2tango_true': [-0.768525, -0.094283, 0.604608, 0.186894]}, {'filename': 'img000102.jpg', 'r_Vo2To_vbs_true': [-0.052913, -0.065092, 5.054986], 'q_vbs2tango_true': [-0.908802, -0.03882, 0.405223, 0.091467]}, {'filename': 'img000104.jpg', 'r_Vo2To_vbs_true': [-0.298949, 0.099915, 7.342399], 'q_vbs2tango_true': [0.604426, -0.57667, -0.49741, -0.23389]}, {'filename': 'img000106.jpg', 'r_Vo2To_vbs_true': [0.029243, -0.04848, 3.715811], 'q_vbs2tango_true': [0.12672, 0.78122, -0.608686, 0.056018]}, {'filename': 'img000107.jpg', 'r_Vo2To_vbs_true': [-0.05598, 0.081918, 8.585968], 'q_vbs2tango_true': [-0.356141, -0.767775, 0.050861, 0.530187]}, {'filename': 'img000109.jpg', 'r_Vo2To_vbs_true': [-0.140341, -0.261398, 6.482593], 'q_vbs2tango_true': [-0.036509, 0.330914, -0.941813, 0.046382]}, {'filename': 'img000111.jpg', 'r_Vo2To_vbs_true': [-0.307029, -0.156228, 6.451728], 'q_vbs2tango_true': [0.098547, 0.940527, 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{'filename': 'img059961.jpg', 'r_Vo2To_vbs_true': [0.037269, 0.123624, 3.581861], 'q_vbs2tango_true': [0.180817, 0.582859, -0.309981, 0.729035]}, {'filename': 'img059962.jpg', 'r_Vo2To_vbs_true': [-0.125919, 0.324016, 9.119795], 'q_vbs2tango_true': [-0.345901, 0.576995, -0.478081, 0.564684]}, {'filename': 'img059963.jpg', 'r_Vo2To_vbs_true': [-0.173395, 0.169661, 7.638086], 'q_vbs2tango_true': [-0.459119, 0.298169, 0.782202, 0.29743]}, {'filename': 'img059964.jpg', 'r_Vo2To_vbs_true': [-0.066101, -0.300513, 6.146414], 'q_vbs2tango_true': [-0.404576, 0.452234, 0.346226, -0.715493]}, {'filename': 'img059965.jpg', 'r_Vo2To_vbs_true': [-0.080778, 0.297078, 3.72769], 'q_vbs2tango_true': [0.41035, 0.7246, -0.033394, -0.552678]}, {'filename': 'img059966.jpg', 'r_Vo2To_vbs_true': [0.050361, -0.381069, 7.877509], 'q_vbs2tango_true': [-0.37083, -0.646807, -0.2247, 0.627404]}, {'filename': 'img059967.jpg', 'r_Vo2To_vbs_true': [-0.206847, -0.216411, 4.405049], 'q_vbs2tango_true': [0.111974, -0.243102, 0.197669, -0.943022]}, {'filename': 'img059968.jpg', 'r_Vo2To_vbs_true': [-0.061207, 0.357824, 7.105141], 'q_vbs2tango_true': [-0.616039, -0.765326, -0.146057, -0.115927]}, {'filename': 'img059970.jpg', 'r_Vo2To_vbs_true': [-0.061503, 0.183146, 4.566749], 'q_vbs2tango_true': [0.175147, -0.38534, -0.004112, -0.905991]}, {'filename': 'img059972.jpg', 'r_Vo2To_vbs_true': [-0.042985, 0.161181, 4.449422], 'q_vbs2tango_true': [0.433613, 0.890221, 0.082653, 0.112496]}, {'filename': 'img059973.jpg', 'r_Vo2To_vbs_true': [-0.232522, 0.22579, 7.341559], 'q_vbs2tango_true': [-0.176951, 0.135201, 0.136682, -0.96526]}, {'filename': 'img059974.jpg', 'r_Vo2To_vbs_true': [-0.023818, 0.319858, 6.911479], 'q_vbs2tango_true': [0.695816, 0.676004, 0.189818, -0.151087]}, {'filename': 'img059975.jpg', 'r_Vo2To_vbs_true': [0.052244, 0.126999, 2.972043], 'q_vbs2tango_true': [0.423023, 0.177175, -0.106565, 0.882216]}, {'filename': 'img059976.jpg', 'r_Vo2To_vbs_true': [-0.073865, -0.101321, 7.837771], 'q_vbs2tango_true': [0.562236, 0.757817, 0.32683, -0.052785]}, {'filename': 'img059977.jpg', 'r_Vo2To_vbs_true': [0.168149, 0.236298, 3.856841], 'q_vbs2tango_true': [0.079128, -0.767182, 0.475593, -0.423063]}, {'filename': 'img059979.jpg', 'r_Vo2To_vbs_true': [0.064845, 0.03546, 2.272818], 'q_vbs2tango_true': [-0.019633, 0.453125, 0.543989, 0.705952]}, {'filename': 'img059981.jpg', 'r_Vo2To_vbs_true': [-0.104578, -0.024173, 3.319277], 'q_vbs2tango_true': [-0.083115, 0.114872, -0.107269, -0.984068]}, {'filename': 'img059983.jpg', 'r_Vo2To_vbs_true': [-0.20895, -0.067114, 4.444584], 'q_vbs2tango_true': [-0.447404, -0.339097, 0.639499, 0.525247]}, {'filename': 'img059984.jpg', 'r_Vo2To_vbs_true': [0.052567, 0.082654, 5.382432], 'q_vbs2tango_true': [0.193771, -0.302315, 0.831777, 0.423326]}, {'filename': 'img059985.jpg', 'r_Vo2To_vbs_true': [-0.045039, 0.318438, 4.637618], 'q_vbs2tango_true': [0.486006, -0.058983, -0.772376, 0.404665]}, {'filename': 'img059986.jpg', 'r_Vo2To_vbs_true': [-0.05835, 0.010544, 5.708198], 'q_vbs2tango_true': [0.090502, -0.027472, -0.992023, -0.083338]}, {'filename': 'img059987.jpg', 'r_Vo2To_vbs_true': [-0.048068, -0.00639, 2.667577], 'q_vbs2tango_true': [0.007506, 0.960183, -0.198349, 0.196596]}, {'filename': 'img059990.jpg', 'r_Vo2To_vbs_true': [-0.06623, -0.008898, 8.782733], 'q_vbs2tango_true': [-0.6273, 0.160008, -0.762073, 0.011694]}, {'filename': 'img059991.jpg', 'r_Vo2To_vbs_true': [-0.143533, 0.213796, 5.634141], 'q_vbs2tango_true': [-0.799104, -0.460116, -0.122672, 0.366984]}, {'filename': 'img059992.jpg', 'r_Vo2To_vbs_true': [0.13699, -0.325774, 7.076235], 'q_vbs2tango_true': [-0.633031, 0.406515, 0.311893, 0.580293]}, {'filename': 'img059993.jpg', 'r_Vo2To_vbs_true': [0.038074, 0.037185, 3.030927], 'q_vbs2tango_true': [0.555323, 0.034488, -0.356993, -0.750322]}, {'filename': 'img059994.jpg', 'r_Vo2To_vbs_true': [-0.177785, 0.163561, 6.586989], 'q_vbs2tango_true': [0.02907, -0.430462, -0.158712, -0.88807]}, {'filename': 'img059996.jpg', 'r_Vo2To_vbs_true': [0.151395, 0.308376, 6.661211], 'q_vbs2tango_true': [0.674108, 0.228195, 0.406196, -0.573158]}, {'filename': 'img059997.jpg', 'r_Vo2To_vbs_true': [0.05829, -0.573531, 7.949816], 'q_vbs2tango_true': [0.547002, -0.829123, -0.097946, 0.061239]}, {'filename': 'img059998.jpg', 'r_Vo2To_vbs_true': [-0.063074, 0.434364, 5.596144], 'q_vbs2tango_true': [-0.643539, -0.416119, 0.104525, 0.633859]}, {'filename': 'img060000.jpg', 'r_Vo2To_vbs_true': [0.077074, 0.302658, 2.508418], 'q_vbs2tango_true': [0.155829, -0.837678, -0.208151, -0.480298]}]
from torchvision import transforms
# Resize kra h real image ko 224 224 Width Height se as per given in Experimental data
transform = transforms.Compose([
transforms.Resize((224, 224)),
transforms.ToTensor(),
])
# import torch
# from torch.utils.data import Dataset
# from PIL import Image
# import os
# import numpy as np
# class SpeedDataset(Dataset):
# def __init__(self, metadata, root_dir, transform=None, keypts2d_list=None, img_size=224):
# self.metadata = metadata
# self.root_dir = root_dir
# self.transform = transform
# self.keypts2d_list = keypts2d_list
# self.img_size = img_size
# def gen_bbox(self, q, t):
# center_x = self.img_size // 2 + int(t[0] * 10)
# center_y = self.img_size // 2 + int(t[1] * 10)
# distance = abs(t[2])
# if distance > 3.0:
# box_size = 30
# elif distance > 1.5:
# box_size = 60
# else:
# box_size = 90
# half_size = box_size // 2
# xmin = max(0, center_x - half_size)
# ymin = max(0, center_y - half_size)
# xmax = min(self.img_size, center_x + half_size)
# ymax = min(self.img_size, center_y + half_size)
# return torch.tensor([xmin, ymin, xmax, ymax], dtype=torch.float32)
# def __len__(self):
# return len(self.metadata)
# def __getitem__(self, idx):
# img_name = self.metadata[idx]['filename']
# image_path = os.path.join(self.root_dir, img_name)
# image = Image.open(image_path).convert('RGB')
# q = torch.tensor(self.metadata[idx]['q_vbs2tango_true'], dtype=torch.float32)
# t = torch.tensor(self.metadata[idx]['r_Vo2To_vbs_true'], dtype=torch.float32)
# if self.keypts2d_list is not None and idx < len(self.keypts2d_list):
# keypts2d = self.keypts2d_list[idx]
# if keypts2d is not None and keypts2d.shape[1] > 0:
# xmin = np.amin(keypts2d[0])
# xmax = np.amax(keypts2d[0])
# ymin = np.amin(keypts2d[1])
# ymax = np.amax(keypts2d[1])
# bbox = torch.tensor([xmin, ymin, xmax, ymax], dtype=torch.float32)
# else:
# bbox = self.gen_bbox(q, t)
# else:
# bbox = self.gen_bbox(q, t)
# if self.transform:
# image = self.transform(image)
# return image, {'q': q, 't': t, 'bbox': bbox}
import torch
from torch.utils.data import Dataset
from PIL import Image
import os
import numpy as np
import json
import scipy.io
def quat2dcm(q):
"""Convert quaternion to direction cosine matrix (DCM)."""
q = np.asarray(q, dtype=np.float64)
assert q.shape == (4,)
q0, q1, q2, q3 = q
return np.array([
[1 - 2*(q2**2 + q3**2), 2*(q1*q2 - q0*q3), 2*(q1*q3 + q0*q2)],
[2*(q1*q2 + q0*q3), 1 - 2*(q1**2 + q3**2), 2*(q2*q3 - q0*q1)],
[2*(q1*q3 - q0*q2), 2*(q2*q3 + q0*q1), 1 - 2*(q1**2 + q2**2)]
])
def project_keypoints(q_vbs2tango, r_Vo2To_vbs, cameraMatrix, distCoeffs, keypoints):
'''Project 3D keypoints to 2D using camera intrinsics and pose.'''
# Ensure keypoints shape is (3, N)
if keypoints.shape[0] != 3:
keypoints = np.transpose(keypoints)
keypoints = np.vstack((keypoints, np.ones((1, keypoints.shape[1]))))
# Compute transformation matrix
pose_mat = np.hstack((np.transpose(quat2dcm(q_vbs2tango)),
np.expand_dims(r_Vo2To_vbs, 1)))
xyz = np.dot(pose_mat, keypoints) # shape: (3, N)
x0, y0 = xyz[0, :] / xyz[2, :], xyz[1, :] / xyz[2, :] # normalize
# Apply distortion
r2 = x0**2 + y0**2
cdist = 1 + distCoeffs[0]*r2 + distCoeffs[1]*r2**2 + distCoeffs[4]*r2**3
x = x0 * cdist + 2*distCoeffs[2]*x0*y0 + distCoeffs[3]*(r2 + 2*x0**2)
y = y0 * cdist + 2*distCoeffs[3]*x0*y0 + distCoeffs[2]*(r2 + 2*y0**2)
# Apply camera intrinsics
points2D = np.vstack((
cameraMatrix[0, 0]*x + cameraMatrix[0, 2],
cameraMatrix[1, 1]*y + cameraMatrix[1, 2]
))
return points2D
class SpeedDataset(Dataset):
def __init__(self, metadata, root_dir, transform=None,
camera_params_path="/kaggle/input/speed/speedplusv2/camera.json",
keypts3d_path="/kaggle/input/tangofile/tangoPoints (2).mat"):
self.metadata = metadata
self.root_dir = root_dir
self.transform = transform
with open(camera_params_path) as f:
self.camera_params = json.load(f)
tango_mat = scipy.io.loadmat(keypts3d_path)
self.keypts3d = tango_mat['tango3Dpoints'].T # Shape (3, N)
def __len__(self):
return len(self.metadata)
def __getitem__(self, idx):
img_name = self.metadata[idx]['filename']
image_path = os.path.join(self.root_dir, img_name)
image = Image.open(image_path).convert('RGB')
q = np.array(self.metadata[idx]['q_vbs2tango_true'], dtype=np.float32)
t = np.array(self.metadata[idx]['r_Vo2To_vbs_true'], dtype=np.float32)
try:
bbox = self._generate_bbox(q, t)
except Exception as e:
print(f"Error projecting keypoints for {img_name}: {e}")
bbox = self._generate_pseudo_bbox(t)
q_tensor = torch.tensor(q, dtype=torch.float32)
t_tensor = torch.tensor(t, dtype=torch.float32)
bbox_tensor = torch.tensor(list(bbox.values()), dtype=torch.float32)
if self.transform:
image = self.transform(image)
return image, {'q': q_tensor, 't': t_tensor, 'bbox': bbox_tensor}
def _generate_bbox(self, q, t):
cameraMatrix = np.array(self.camera_params['cameraMatrix'])
distCoeffs = np.array(self.camera_params['distCoeffs'])
keypts2d = project_keypoints(q, t, cameraMatrix, distCoeffs, self.keypts3d)
return {
'xmin': np.min(keypts2d[0]),
'xmax': np.max(keypts2d[0]),
'ymin': np.min(keypts2d[1]),
'ymax': np.max(keypts2d[1])
}
def _generate_pseudo_bbox(self, t):
img_size = 224
center = img_size // 2
z = t[2]
box_size = int(300 / (z + 1e-6))
box_size = np.clip(box_size, 30, 150)
return {
'xmin': max(0, center - box_size // 2),
'xmax': min(img_size, center + box_size // 2),
'ymin': max(0, center - box_size // 2),
'ymax': min(img_size, center + box_size // 2)
}
import torch
import torch.nn as nn
import torch.nn.functional as F
class CustomSPN(nn.Module):
def __init__(self, num_anchors=5, num_classes=1000):
super(CustomSPN, self).__init__()
# Convolution layers 5
self.backbone = nn.Sequential(
nn.Conv2d(3, 32, kernel_size=3, padding=1), # Conv Layer 1
nn.BatchNorm2d(32),
nn.ReLU(inplace=True),
nn.MaxPool2d(2), # 112x112
nn.Conv2d(32, 64, kernel_size=3, padding=1), # Conv Layer 2
nn.BatchNorm2d(64),
nn.ReLU(inplace=True),
nn.MaxPool2d(2), # 56x56
nn.Conv2d(64, 128, kernel_size=3, padding=1), # Conv Layer 3
nn.BatchNorm2d(128),
nn.ReLU(inplace=True),
nn.MaxPool2d(2), # 28x28
nn.Conv2d(128, 256, kernel_size=3, padding=1), # Conv Layer 4
nn.BatchNorm2d(256),
nn.ReLU(inplace=True),
nn.MaxPool2d(2), # 14x14
nn.Conv2d(256, 256, kernel_size=3, padding=1), # Conv Layer 5 (newly added)
nn.BatchNorm2d(256),
nn.ReLU(inplace=True),
nn.MaxPool2d(2), # 7x7
)
# Shared conv after backbone
self.shared_conv = nn.Conv2d(256, 256, kernel_size=3, padding=1)
# RPN heads (classification & bbox regression)
self.rpn_cls = nn.Conv2d(256, num_anchors, kernel_size=1)
self.rpn_reg = nn.Conv2d(256, num_anchors * 4, kernel_size=1)
self.avgpool = nn.AdaptiveAvgPool2d((1, 1))
# Shared FC feature extractor
self.shared_fc = nn.Sequential(
nn.Linear(256, 256),
nn.ReLU(inplace=True)
)
# Attitude classification head
self.att_class = nn.Sequential(
nn.Linear(256, 256),
nn.ReLU(inplace=True),
nn.Linear(256, num_classes)
)
# Quaternion regression head
self.att_reg = nn.Sequential(
nn.Linear(256, 128),
nn.ReLU(inplace=True),
nn.Linear(128, 4)
)
def forward(self, x):
B = x.size(0)
features = self.backbone(x)
shared = self.shared_conv(features)
rpn_logits = self.rpn_cls(shared)
rpn_boxes = self.rpn_reg(shared)
inx, iny, H, W = rpn_logits.shape
# Jiski max probability h Anchor box se usse Bbox predict krwa rhe
rpn_logits_flat = rpn_logits.view(B, -1)
max_prob_idx = rpn_logits_flat.argmax(dim=1)
max_anchor = max_prob_idx // (H * W)
max_spatial = max_prob_idx % (H * W)
rpn_boxes = rpn_boxes.view(B, -1, 4, H * W)
bbox_final = rpn_boxes[torch.arange(B), max_anchor, :, max_spatial]
pooled = self.avgpool(shared).view(B, -1)
shared_feat = self.shared_fc(pooled)
q_class = self.att_class(shared_feat)
q_reg = self.att_reg(shared_feat)
q_reg = q_reg / (q_reg.norm(dim=1, keepdim=True) + 1e-8)
return bbox_final, q_class, q_reg
def spn_loss(q_pred, bbox_pred, targets):
# loss nikala h q val ka
q_pred_norm = F.normalize(q_pred, dim=1)
q_true_norm = F.normalize(targets['q'], dim=1)
quad_loss = torch.mean((q_pred_norm - q_true_norm) ** 2)
# Bbox loss nikala h smooth l1 loss se
bbox_loss = F.smooth_l1_loss(bbox_pred, targets['bbox'])
# Loss total=quatloss+ 0.5*(bbox loss)
return quad_loss + 0.5*(bbox_loss)
import torch
device = torch.device('cuda' if torch.cuda.is_available() else 'cpu')
from torch.utils.data import DataLoader, random_split
device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
model = CustomSPN().to(device)
optimizer = torch.optim.SGD(model.parameters(), lr=3e-3, momentum=0.9)
full_dataset = SpeedDataset(train_metadata, '/kaggle/input/speed/speedplusv2/synthetic/images/', transform=transform)
# Train Valid split 80% 20%
train_size = int(0.8 * len(full_dataset))
val_size = len(full_dataset) - train_size
train_dataset, validation_dataset = random_split(full_dataset, [train_size, val_size])
dataloader_train = DataLoader(train_dataset, batch_size=16, shuffle=True, num_workers=4, persistent_workers=True)
print(train_metadata[0].keys()) # Check keys to confirm targets
for epoch in range(75):
model.train()
epoch_loss = 0
for batch_idx, (images, targets) in enumerate(dataloader_train):
images = images.to(device)
# Target bbox and q val extraction for loss and loss.backward()
q_target = targets['q'].to(device)
bbox_target = targets['bbox'].to(device)
bbox_pred, q_class, q_pred = model(images)
loss = spn_loss(q_pred,bbox_pred, {'q': q_target, 'bbox': bbox_target})
optimizer.zero_grad()
loss.backward()
optimizer.step()
epoch_loss += loss.item()
avg_loss = epoch_loss / len(dataloader_train)
print(f"Epoch {epoch+1}, Loss: {avg_loss:.4f}")
torch.save(model.state_dict(), "/kaggle/working/Spn_Model_Final.pth")
dict_keys(['filename', 'r_Vo2To_vbs_true', 'q_vbs2tango_true']) Epoch 1, Loss: 83.5940 Epoch 2, Loss: 66.1179 Epoch 3, Loss: 60.3536 Epoch 4, Loss: 56.7916 Epoch 5, Loss: 55.1367 Epoch 6, Loss: 55.8504 Epoch 7, Loss: 53.3551 Epoch 8, Loss: 51.6082 Epoch 9, Loss: 50.7510 Epoch 10, Loss: 51.3980 Epoch 11, Loss: 52.3014 Epoch 12, Loss: 52.7418 Epoch 13, Loss: 51.7484 Epoch 14, Loss: 52.0712 Epoch 15, Loss: 51.7833 Epoch 16, Loss: 51.1867 Epoch 17, Loss: 50.1507 Epoch 18, Loss: 48.8379 Epoch 19, Loss: 48.2509 Epoch 20, Loss: 47.2596 Epoch 21, Loss: 46.4142 Epoch 22, Loss: 45.5699 Epoch 23, Loss: 45.0738 Epoch 24, Loss: 45.2403 Epoch 25, Loss: 44.5183 Epoch 26, Loss: 43.4941 Epoch 27, Loss: 43.2779 Epoch 28, Loss: 43.4167 Epoch 29, Loss: 42.3820 Epoch 30, Loss: 41.2898 Epoch 31, Loss: 41.1635 Epoch 32, Loss: 40.7023 Epoch 33, Loss: 40.7595 Epoch 34, Loss: 39.8646 Epoch 35, Loss: 40.5739 Epoch 36, Loss: 39.6803 Epoch 37, Loss: 39.5522 Epoch 38, Loss: 39.4516 Epoch 39, Loss: 38.8723 Epoch 40, Loss: 38.0079 Epoch 41, Loss: 37.8050 Epoch 42, Loss: 37.0813 Epoch 43, Loss: 37.2856 Epoch 44, Loss: 37.4232 Epoch 45, Loss: 36.4632 Epoch 46, Loss: 36.0989 Epoch 47, Loss: 35.8382 Epoch 48, Loss: 36.0355 Epoch 49, Loss: 35.0900 Epoch 50, Loss: 34.8122 Epoch 51, Loss: 35.0250 Epoch 52, Loss: 34.8716 Epoch 53, Loss: 34.2712 Epoch 54, Loss: 33.6782 Epoch 55, Loss: 34.6393 Epoch 56, Loss: 34.2033 Epoch 57, Loss: 34.0195 Epoch 58, Loss: 34.0461 Epoch 59, Loss: 34.3264 Epoch 60, Loss: 34.1363 Epoch 61, Loss: 33.8069 Epoch 62, Loss: 33.2482 Epoch 63, Loss: 33.0040 Epoch 64, Loss: 32.3925 Epoch 65, Loss: 32.5007 Epoch 66, Loss: 32.6426 Epoch 67, Loss: 32.1300 Epoch 68, Loss: 31.5870 Epoch 69, Loss: 31.9179 Epoch 70, Loss: 31.4567 Epoch 71, Loss: 31.5771 Epoch 72, Loss: 30.9916 Epoch 73, Loss: 31.4861 Epoch 74, Loss: 31.1009 Epoch 75, Loss: 30.6933
def find_tbc_newt_gauss(bbox):
fx_fy_avg = 0.0176
cx, cy = 960, 600
L_c = 4.5
if not isinstance(bbox, torch.Tensor):
bbox = torch.tensor(bbox, dtype=torch.float32)
Bx = (bbox[0] + bbox[2]) / 2
By = (bbox[1] + bbox[3]) / 2
l_roi = torch.sqrt((bbox[2] - bbox[0])**2 + (bbox[3] - bbox[1])**2 )
alpha = torch.atan((Bx - cx) / fx_fy_avg)
beta = torch.atan((By - cy) / fx_fy_avg)
t = fx_fy_avg * L_c / l_roi
R_y_alpha = torch.tensor([
[torch.cos(alpha), 0, -torch.sin(alpha)],
[0, 1, 0],
[-torch.sin(alpha), 0, torch.cos(alpha)]
])
R_x_beta = torch.tensor([
[1, 0, 0],
[0, torch.cos(beta), torch.sin(beta)],
[0, -torch.sin(beta), torch.cos(beta)]
])
t_vec = torch.tensor([0.0, 0.0, t])
t_bc = R_y_alpha @ R_x_beta @ t_vec
return t_bc
def et(t_pred,t_real):
return torch.norm(t_pred - t_gt, dim=1)
def quaternion_conjugate(q):
w = q[:, 0:1]
xyz = q[:, 1:]
return torch.cat([w, -xyz], dim=1)
def quaternion_multiply(q1, q2):
w1, x1, y1, z1 = q1[:,0], q1[:,1], q1[:,2], q1[:,3]
w2, x2, y2, z2 = q2[:,0], q2[:,1], q2[:,2], q2[:,3]
w = w1*w2 - x1*x2 - y1*y2 - z1*z2
x = w1*x2 + x1*w2 + y1*z2 - z1*y2
y = w1*y2 - x1*z2 + y1*w2 + z1*x2
z = w1*z2 + x1*y2 - y1*x2 + z1*w2
return torch.stack([w, x, y, z], dim=1)
def e_r(q_pred, q_gt):
q_gt_conj = quaternion_conjugate(q_gt)
z = quaternion_multiply(q_pred, q_gt_conj)
zs = z[:, 0].abs()
zs = torch.clamp(zs, -1.0, 1.0)
er = 2 * torch.acos(zs)
return er
# def iou(bbox_pred, bbox_gt):
# """Calculate Intersection over Union (IoU) for batches of bounding boxes.
# Input tensors should be shape (N,4) with format [xmin, xmax, ymin, ymax]"""
# # Split coordinates
# xmin_pred,ymin_pred = bbox_pred[:, 0], bbox_pred[:, 1]
# xmax_pred, ymax_pred = bbox_pred[:, 2], bbox_pred[:, 3]
# xmin_gt, xmax_gt = bbox_gt[:, 0], bbox_gt[:, 1]
# ymin_gt, ymax_gt = bbox_gt[:, 2], bbox_gt[:, 3]
# # Calculate intersection coordinates
# inter_xmin = torch.maximum(xmin_pred, xmin_gt)
# inter_xmax = torch.minimum(xmax_pred, xmax_gt)
# inter_ymin = torch.maximum(ymin_pred, ymin_gt)
# inter_ymax = torch.minimum(ymax_pred, ymax_gt)
# # Calculate intersection area
# inter_width = torch.clamp(inter_xmax - inter_xmin, min=0)
# inter_height = torch.clamp(inter_ymax - inter_ymin, min=0)
# inter_area = inter_width * inter_height
# # Calculate union area
# area_pred = (xmax_pred - xmin_pred) * (ymax_pred - ymin_pred)
# area_gt = (xmax_gt - xmin_gt) * (ymax_gt - ymin_gt)
# union_area = area_pred + area_gt - inter_area
# return inter_area / union_area
def iou(bbox_pred, bbox_gt):
"""Calculate Intersection over Union (IoU) for batches of bounding boxes.
Input tensors should be shape (N, 4) with format [xmin, ymin, xmax, ymax]
"""
# Split coordinates
xmin_pred, ymin_pred, xmax_pred, ymax_pred = bbox_pred[:, 0], bbox_pred[:, 1], bbox_pred[:, 2], bbox_pred[:, 3]
xmin_gt, ymin_gt, xmax_gt, ymax_gt = bbox_gt[:, 0], bbox_gt[:, 1], bbox_gt[:, 2], bbox_gt[:, 3]
# Intersection rectangle
inter_xmin = torch.maximum(xmin_pred, xmin_gt)
inter_ymin = torch.maximum(ymin_pred, ymin_gt)
inter_xmax = torch.minimum(xmax_pred, xmax_gt)
inter_ymax = torch.minimum(ymax_pred, ymax_gt)
# Intersection area
inter_width = torch.clamp(inter_xmax - inter_xmin, min=0)
inter_height = torch.clamp(inter_ymax - inter_ymin, min=0)
inter_area = inter_width * inter_height
# Union area
area_pred = (xmax_pred - xmin_pred) * (ymax_pred - ymin_pred)
area_gt = (xmax_gt - xmin_gt) * (ymax_gt - ymin_gt)
union_area = area_pred + area_gt - inter_area
iou = inter_area / (union_area + 1e-6)
return iou
dataloader_val = DataLoader(validation_dataset, batch_size=16, shuffle=False, num_workers=4, persistent_workers=True)
model.eval()
total_et = 0.0
total_er = 0.0
total_iou = 0.0 # New IoU accumulator
count = 0
with torch.no_grad():
for images, targets in dataloader_val:
images = images.to(device)
bbox_pred, q_class_pred, q_pred = model(images)
# Get ground truth values
q_gt = targets['q'].to(device)
t_gt = targets['t'].to(device)
bbox_gt = targets['bbox'].to(device) # Extract bbox from targets
# Calculate IoU (new)
bbox_pred = bbox_pred[:, [0, 2, 1, 3]]
bbox_gt = bbox_gt[:, [0, 2, 1, 3]]
iou_batch = iou(bbox_pred, bbox_gt)
# Existing error calculations
bbox_pred_cpu = bbox_pred.cpu()
tbc_preds = []
for bbox in bbox_pred_cpu:
tbc = find_tbc_newt_gauss(bbox)
tbc_preds.append(tbc)
tbc_preds = torch.stack(tbc_preds).to(device)
et_batch = et(tbc_preds, t_gt)
er_batch = e_r(q_pred, q_gt)
# Accumulate metrics
total_et += et_batch.sum().item()
total_er += er_batch.sum().item()
total_iou += iou_batch.sum().item() # Accumulate IoU
count += et_batch.size(0)
# Calculate means
mean_et = total_et / count
mean_er = total_er / count
mean_iou = total_iou / count
print(f"Validation ET (translation error): {mean_et:.4f}")
print(f"Validation ER (attitude error): {mean_er:.4f}")
print(f"Validation IoU: {mean_iou:.5f}")
Validation ET (translation error): 6.1194 Validation ER (attitude error): 2.1900 Validation IoU: 0.59420
print('/kaggle/input/speed/speedplusv2/camera.json')
/kaggle/input/speed/speedplusv2/camera.json
dataset_path = "/kaggle/input/speed/speedplusv2/"
import json
with open(dataset_path + 'camera.json') as f:
camera = json.load(f)
print(camera['cameraMatrix'])
print(camera['distCoeffs'])
[[2988.5795163815555, 0, 960], [0, 2988.3401159176124, 600], [0, 0, 1]] [-0.22383016606510672, 0.5140979708910638, -0.0006649961199834066, -0.00021404771667484594, -0.13124227429077406]
dataset_path = "/kaggle/input/speed/speedplusv2/"
import json
with open(dataset_path + 'camera.json') as f:
camera = json.load(f)
print(camera['cameraMatrix'])
print(camera['distCoeffs'])
import scipy.io
import numpy as np
# Load the .mat file
mat_data = scipy.io.loadmat('/kaggle/input/tangofile/tangoPoints (2).mat')
tango_points = mat_data['tango3Dpoints']
points = tango_points.T
print(points)
[[2988.5795163815555, 0, 960], [0, 2988.3401159176124, 600], [0, 0, 1]] [-0.22383016606510672, 0.5140979708910638, -0.0006649961199834066, -0.00021404771667484594, -0.13124227429077406] [[-0.37 -0.385 0.3215] [-0.37 0.385 0.3215] [ 0.37 0.385 0.3215] [ 0.37 -0.385 0.3215] [-0.37 -0.264 0. ] [-0.37 0.304 0. ] [ 0.37 0.304 0. ] [ 0.37 -0.264 0. ] [-0.5427 0.4877 0.2535] [ 0.5427 0.4877 0.2591] [ 0.305 -0.579 0.2515]]